Merge branch 'google-deepmind:main' into main

python/mujoco/CMakeLists.txt

@@ -84,7 +84,7 @@ if(NOT TARGET mujoco)
     if(MUJOCO_FRAMEWORK)
       message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
       set(MUJOCO_LIBRARY
-          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.4.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.5.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.1.4 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.1.5 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -191,7 +191,7 @@ findorfetch(
   GIT_REPO
   https://github.com/pybind/pybind11
   GIT_TAG
-  8a099e44b3d5f85b20f05828d919d2332a8de841 # v2.11.1
+  3e9dfa2866941655c56877882565e7577de6fc7b # v2.12.0
   TARGETS
   pybind11::pybind11_headers
   EXCLUDE_FROM_ALL

python/mujoco/bindings_test.py

@@ -1303,6 +1303,23 @@ Euler integrator, semi-implicit in velocity.
     mat = np.array([[1., 2., 3.], [4., 5., 6.], [7., 8., 9.]])
     self.assertEqual(mujoco.mju_mulVecMatVec(vec1, mat, vec2), 204.)
 
+  def test_mju_euler_to_quat(self):
+    quat = np.zeros(4)
+    euler = np.array([0, np.pi/2, 0])
+    seq = 'xyz'
+    mujoco.mju_euler2Quat(quat, euler, seq)
+    expected_quat = np.array([np.sqrt(0.5), 0, np.sqrt(0.5), 0.])
+    np.testing.assert_almost_equal(quat, expected_quat)
+
+    error = 'mju_euler2Quat: seq must contain exactly 3 characters'
+    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
+      mujoco.mju_euler2Quat(quat, euler, 'xy')
+    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
+      mujoco.mju_euler2Quat(quat, euler, 'xyzy')
+    error = 'mju_euler2Quat: seq[2] is \'p\', should be one of x, y, z, X, Y, Z'
+    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
+      mujoco.mju_euler2Quat(quat, euler, 'xYp')
+
   @parameterized.product(flg_html=(False, True), flg_pad=(False, True))
   def test_mj_printSchema(self, flg_html, flg_pad):  # pylint: disable=invalid-name
     # Make sure that mj_printSchema doesn't raise an exception

python/mujoco/functions.cc

@@ -106,11 +106,11 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mj_defaultOption>(pymodule);
   Def<traits::mj_defaultVisual>(pymodule);
   // Skipped: mj_copyModel (have MjModel.__copy__, memory managed by MjModel)
-  DEF_WITH_OMITTED_PY_ARGS(traits::mj_saveModel, "buffer_sz")(
-      pymodule,
-      [](const raw::MjModel* m, const std::optional<std::string>& filename,
+  pymodule.def(
+      "mj_saveModel",
+      [](const MjModelWrapper& m, const std::optional<std::string>& filename = std::nullopt,
          std::optional<
-             Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer) {
+             Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer = std::nullopt) {
         void* buffer_ptr = nullptr;
         int buffer_sz = 0;
         if (buffer.has_value()) {
@@ -118,9 +118,13 @@ PYBIND11_MODULE(_functions, pymodule) {
           buffer_sz = buffer->size();
         }
         return InterceptMjErrors(::mj_saveModel)(
-            m, filename.has_value() ? filename->c_str() : nullptr,
+            m.get(), filename.has_value() ? filename->c_str() : nullptr,
             buffer_ptr, buffer_sz);
-      });
+      },
+      py::arg("m"), py::arg_v("filename", std::nullopt),
+      py::arg_v("buffer", std::nullopt),
+      py::doc(traits::mj_saveModel::doc),
+      py::call_guard<py::gil_scoped_release>());
   // Skipped: mj_loadModel (have MjModel.from_binary_path)
   // Skipped: mj_deleteModel (have MjModel.__del__)
   Def<traits::mj_sizeModel>(pymodule);
@@ -995,6 +999,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mju_derivQuat>(pymodule);
   Def<traits::mju_quatIntegrate>(pymodule);
   Def<traits::mju_quatZ2Vec>(pymodule);
+  Def<traits::mju_euler2Quat>(pymodule);
 
   // Poses
   Def<traits::mju_mulPose>(pymodule);

python/mujoco/mjpython/Info.plist

@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.1.4</string>
+    <string>3.1.5</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.1.4</string>
+    <string>3.1.5</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.1.4</string>
+    <string>3.1.5</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.1.4</string>
+    <string>3.1.5</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>

python/mujoco/renderer.py

@@ -78,8 +78,11 @@ the clause:
 
     # Create render contexts.
     # TODO(nimrod): Figure out why pytype doesn't like gl_context.GLContext
-    self._gl_context = gl_context.GLContext(width, height)  # type: ignore
-    self._gl_context.make_current()
+    self._gl_context = None  # type: ignore
+    if gl_context.GLContext is not None:
+      self._gl_context = gl_context.GLContext(width, height)
+    if self._gl_context:
+      self._gl_context.make_current()
     self._mjr_context = _render.MjrContext(
         model, _enums.mjtFontScale.mjFONTSCALE_150.value
     )
@@ -148,9 +151,11 @@ the clause:
       self._scene.flags[_enums.mjtRndFlag.mjRND_SEGMENT] = True
       self._scene.flags[_enums.mjtRndFlag.mjRND_IDCOLOR] = True
 
-    if self._gl_context is None:
+    if self._mjr_context is None:
       raise RuntimeError('render cannot be called after close.')
-    self._gl_context.make_current()
+
+    if self._gl_context:
+      self._gl_context.make_current()
 
     if self._depth_rendering:
       out_shape = (self._height, self._width)

python/mujoco/structs.cc

@@ -2226,6 +2226,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(headlight);
   X(directional);
   X(castshadow);
+  X(bulbradius);
 #undef X
 
 #define X(var) DefinePyArray(mjvLight, #var, &MjvLightWrapper::var)

python/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.1.4"
+version = "3.1.5"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -36,9 +36,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.1.4"
+Documentation = "https://mujoco.readthedocs.io/en/3.1.5"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.1.4/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.1.5/changelog.html"
 
 [tool.setuptools]
 include-package-data = false